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With the enlargement of the network size and application scope of mobile ad hoc networks, the variety and number of service needed by such networks become more and more. Furthermore, in this dynamic environment, different nodes offering different services may enter and leave the network at any time. Efficient and timely service discovery becomes a new task of mobile ad hoc network. Discovery of services is a crucial feature for the usability of mobile ad hoc networks. In this paper, we survey the researches of recent years on service discovery, classify the existing service discovery protocols of mobile ad hoc networks. Moreover, we analyze and compare these protocols. Based on the analysis, further research issues that still need investigation are listed.